Beyond Visual Line of Sight Drone Simulator with User-defined Risk Layers

Abstract

As Beyond Visual Line of Sight (BVLOS) operations become increasingly prevalent across a range of UAV applications, the need for reliable tools to support safe mission planning and dynamic risk assessment is growing. This work introduces a web-based simulation framework for BVLOS flight planning and validation, developed as a full-stack Flask application. The system integrates FAA sectional charts, NOAA weather overlays, and user-defined air and ground risk layers into an interactive browser interface. Users can draw waypoint paths, adjust altitudes, and dynamically reroute flights in response to hazards such as adverse weather or temporary airspace restrictions. To support rapid deployment and accessibility, the simulation stack is fully containerized using Docker and incorporates a Software-inthe-Loop (SITL) engine via ArduPilot. In addition to simulation, the platform supports scaled-down Hardware-in-the-Loop (HIL) validation using S-500 quadcopter drone, enabling a safe pre-flight evaluation of high-risk missions. The system architecture is modular and extensible, allowing integration of external tools for mission visualization and log playback. This framework offers a practical toolset for both researchers and operators seeking to improve UAV reliability in complex environments. Use cases include disaster response, remote infrastructure inspection, and agricultural monitoring. The results demonstrate the utility of simulation-driven planning in enhancing safety, mission effectiveness, and operator preparedness for real-world BVLOS deployments.